Benoit Desrochers (DGA-TN) |
Luc Jaulin (Ensta Bretagne, Lab-Sticc) |
This papers shows that using separators, which is a pair of two complementary contractors, we can easily and efficiently solve the localization problem of a robot with sonar measurements in an unstructured environment. We introduce separators associated with the Minkowski sum and the Minkowski difference in order to facilitate the resolution. A test-case is given in order to illustrate the principle of the approach. |
ArXived at: https://dx.doi.org/10.4204/EPTCS.247.3 | bibtex | |
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